Hybrid drive type hand function rehabilitation device

Abstract

The invention provides a hybrid drive type hand function rehabilitation device. The hybrid drive type hand function rehabilitation device comprises a supporting plate, a glove, five finger bending assemblies and a pneumatic drive part. The palm part of the glove is connected with one side of the supporting plate; the five finger bending assemblies are arranged on the side, away from the glove, of the supporting plate, the ends, close to the palm portion of the glove, of the five finger bending assemblies are connected with the supporting plate, and the ends, close to the finger portions of the glove, of the five finger bending assemblies are connected with the glove. The pneumatic driving part is used for controlling inflation and deflation of the finger bending assembly; the finger bending assembly comprises a delay control structure and at least two connected pneumatic bending parts. The two pneumatic bending parts are arranged in the length direction and have the same bending direction; the delay control structure is used for controlling the pneumatic bending parts to be sequentially inflated and bent in the direction from the finger root to the finger tip. The finger knuckle bending sequence of normal human fingers can be simulated, the problem that no time lag exists in the current human finger bending simulation process is solved, and the more accurate rehabilitation treatment effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation devices, and in particular to a hybrid drive type hand function rehabilitation device. Background Art

[0002] With the aging of the population, the number of patients with upper limb dysfunction caused by stroke and other diseases is increasing, and the demand for hand function rehabilitation treatment is gradually increasing, which has promoted the rapid development of rehabilitation technology. Most traditional hand rehabilitation systems are driven by mechanical and motor drives, which have problems such as bulky structure and poor comfort. In recent years, with the development of flexible materials and intelligent control technology, hybrid drive flexible rehabilitation hand function technology has become an emerging research hotspot. Hybrid drive technology combines flexible drives with motors or pneumatic drives to provide sufficient power and precise control while ensuring the comfort of rehabilitation hands to meet different rehabilitation needs. For example, a flexible rehabilitation glove based on a hybrid drive is recorded in the patent document with publication number CN115463006A. The glove drives the patient's fingers to move through a flexible drive, but in this solution, the various parts of the flexible drive are bent at the same time, while the order of bending the knuckles of normal people's fingers is the first knuckle, the second knuckle and the third knuckle in sequence. The flexible rehabilitation gloves in the prior art cannot make the patient's fingers bend in a normal order for rehabilitation treatment. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a hybrid drive hand function rehabilitation device to eliminate or improve one or more defects existing in the prior art.

[0004] The present invention provides a hybrid drive type hand function rehabilitation device, comprising: a support plate, a glove, five finger bending components and a pneumatic drive member;

[0005] Wherein, the palm part of the glove is connected to one side of the support plate;

[0006] The five finger bending components are arranged on a side of the support plate away from the glove, one end of the five finger bending components close to the palm of the glove is connected to the support plate, and one end of the five finger bending components close to the finger of the glove is connected to the glove;

[0007] The five finger bending components are linear structures in a non-inflated state, and are arc-shaped structures bent toward one side of the glove in an inflated state, and the pneumatic drive is used to control the inflation and deflation of the finger bending components;

[0008] The finger bending assembly includes a time delay control structure and at least two connected pneumatic bending members;

[0009] Wherein, the two pneumatic bending members are arranged along their length direction and have the same bending direction;

[0010] The delay control structure is connected to each of the pneumatic bending members and is used to control each of the pneumatic bending members to be inflated and bent in sequence from the base of the finger to the fingertip.

[0011] In some embodiments of the present invention, the time delay control structure is arranged between two adjacent pneumatic bending members, and the time delay control structure comprises a valve body, an air inlet head, an air outlet head and a valve plate;

[0012] Wherein, the air inlet head and the air outlet head are respectively arranged on both sides of the valve body for communicating with the pneumatic bending member, and the air inlet head and the air outlet head are communicated with the valve body;

[0013] The valve body is a hollow structure, the valve plate is arranged in the center of the valve body, a cavity structure is formed inside the valve body on both sides of the valve plate, a through hole is provided in the middle of the valve plate, and the aperture of the through hole is smaller than the cross-sectional area of ​​the cavity structure;

[0014] The air inlet head and the air outlet head are both provided with limiting rings.

[0015] In some embodiments of the present invention, the upper side of the pneumatic bending member has a plurality of protrusion structures arranged side by side, and intervals are provided between adjacent protrusion structures. A cavity is provided inside the protrusion structure, and each of the cavities is interconnected. When the cavity is inflated, it expands so that the pneumatic bending member bends toward a side away from the protrusion structure.

[0016] The spacing on the pneumatic bending member at the end of the finger bending assembly is smaller than the spacing on the remaining pneumatic bending members of the finger bending assembly;

[0017] The lengths of the pneumatic bending members decrease in sequence from the base of the finger to the tip of the finger.

[0018] In some embodiments of the present invention, the pneumatic bending member at the head end is fixedly connected to the support plate via a second bracket, and the pneumatic bending member and the delay control structure at the tail end are fixedly connected to the glove via a second bracket;

[0019] The pneumatic bending member located at the head end is connected to the pneumatic driving member through a conduit and an air valve in sequence.

[0020] In some embodiments of the present invention, the finger bending assembly corresponding to the thumb includes two pneumatic bending members, and the finger bending assemblies corresponding to the index finger, middle finger, ring finger and little finger each include three pneumatic bending members.

[0021] In some embodiments of the present invention, the hybrid-driven hand function rehabilitation device further includes a swing drive assembly; at least one swing drive assembly is provided, and the swing drive assembly corresponds to at least one of the thumb, index finger, and ring finger. The swing drive assembly includes a power source, a cable group, and an elastic frame;

[0022] Wherein, the elastic frame is arranged on the support plate and is connected to one of the five finger bending assemblies;

[0023] Both ends of the cable group are respectively connected to the elastic frame and the power source, and the power source is used to pull the cable group to drive the elastic frame and the finger bending assembly connected to the elastic frame to swing left and right.

[0024] In some embodiments of the present invention, the elastic frame includes a first fixing frame, a floating baffle, and at least one elastic reed;

[0025] Wherein, the elastic reed is arranged between the first fixing frame and the floating baffle, both ends of the elastic reed are respectively connected to the first fixing frame and the floating baffle, and the elastic reed can deflect and deform left and right;

[0026] The bottom of the first fixing frame is fixedly connected to the support plate;

[0027] The floating baffle is in a U-shaped structure and is clamped on the finger bending assembly connected to the elastic frame for driving the finger bending assembly connected to the elastic frame to swing, and the floating baffle is connected to the cable group;

[0028] The first fixing frame is in a U-shaped structure, and the side with an opening of the first fixing frame is fixedly connected to the support plate.

[0029] In some embodiments of the present invention, the cable group includes a first cable and a second cable; through holes are respectively arranged on both sides of the first fixing frame in the horizontal direction; connecting sleeves are respectively arranged on both sides of the floating baffle in the horizontal direction;

[0030] Wherein, the middle part of the first cable passes through the through hole on one side of the first fixing frame, and the first end of the first cable is fixedly connected to the connecting sleeve on the same side;

[0031] The middle part of the second cable passes through the through hole on the other side of the first fixing frame, and the first end of the second cable is fixedly connected to the connecting sleeve on the same side;

[0032] The second ends of the first pull rope and the second ends of the second pull rope are both connected to the power source, and the power source is used to control the first pull rope to tighten and the second pull rope to loosen, or the first pull rope to loosen and the second pull rope to tighten, or the first pull rope and the second pull rope to loosen at the same time.

[0033] In some embodiments of the present invention, the power source includes a steering gear and a turntable;

[0034] The steering gear can be fixedly arranged relative to the support plate, the middle part of the turntable is fixedly connected to the output shaft of the steering gear, and the side of the turntable has two pull rope connection holes arranged symmetrically to the center, and the two pull rope connection holes are fixedly connected to the second end of the first pull rope and the second end of the second pull rope respectively;

[0035] The rotation axis of the turntable is arranged horizontally so that a part of the structure of the first pull rope close to the turntable and a part of the structure of the second pull rope close to the turntable intersect in space.

[0036] In some embodiments of the present invention, the swing drive assembly further comprises at least two positioning rings, a lateral interval is provided between the two positioning rings, the positioning rings are fixedly connected to the support plate, the connection direction of the two positioning rings is the same as the direction of the rotation axis of the turntable, and the middle parts of the first pull rope and the second pull rope pass through the inside of the two positioning rings respectively;

[0037] The hybrid drive hand function rehabilitation device also includes a wrist fixing ring and a first bracket;

[0038] Wherein, the first bracket is fixedly arranged on the wrist fixing ring, the wrist fixing ring has a notch, and the steering gear is fixedly connected to the first bracket.

[0039] In a hybrid drive type hand function rehabilitation device of the present invention, the palm part of the glove is connected to one side of the support plate, the glove is made of flexible material, the glove itself can be bent, the glove is comfortable and flexible, the user's hand is completely inserted into the glove, so that the five finger bending components drive the patient's fingers to perform exercise rehabilitation through the glove. The five finger bending components are linear structures in a non-inflated state, and the finger bending components are arc structures bent toward one side of the glove in an inflated state. The pneumatic drive component is used to control the inflation and deflation of the finger bending components. Such an arrangement allows the finger bending component to drive the fingers to bend and straighten, achieving the effect of rehabilitation training. The finger bending component is a split structure, composed of multiple sections of pneumatic bending components. The delay control structure can control the bending order of the pneumatic bending components, thereby simulating the knuckle bending order of normal human fingers, solving the current problem of no time lag in the process of simulating human finger bending, and achieving a more accurate rehabilitation treatment effect.

[0040] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention may be achieved and obtained by the structures specifically indicated in the specification and the accompanying drawings.

[0041] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0043] Figure 1 It is a front structural schematic diagram of a hybrid drive type hand function rehabilitation device in one embodiment of the present invention.

[0044] Figure 2 Schematic diagram of the back structure of a hybrid drive hand function rehabilitation device in one embodiment of the present invention.

[0045] Figure 3 Schematic diagram of the structure of the elastic frame and the pneumatic bending member in one embodiment of the present invention.

[0046] Figure 4 Schematic diagram of the structure of a finger bending assembly in one embodiment of the present invention.

[0047] Figure 5 Schematic diagram of the structure of a pneumatic bending member in one embodiment of the present invention.

[0048] Figure 6 Schematic diagram of the delay control structure in one embodiment of the present invention.

[0049] Figure 7 Schematic diagram of the structure of an elastic frame in one embodiment of the present invention.

[0050] Figure 8 It is a schematic structural diagram of a finger bending assembly corresponding to the thumb in one embodiment of the present invention.

[0051] Fig. 9 Schematic diagram of the structure of a wrist fixing ring in one embodiment of the present invention.

[0052] Figure numerals: 1. finger bending assembly; 11. pneumatic bending member; 111. protruding structure; 112. cavity; 12. delay control structure; 13. second bracket; 14. conduit; 15. air valve; 121. valve body; 122. air inlet head; 123. air outlet head; 124. valve plate; 125. limiting ring; 126. through hole; 2. swing drive assembly; 21. servo; 22. first pull rope; 23. second pull rope; 24. elastic frame; 25. turntable; 27. positioning ring; 241. first fixing frame; 242. floating baffle; 243. elastic spring; 244. connecting sleeve; 245. through hole; 3. wrist fixing ring; 4. first bracket; 5. support plate; 6. glove. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0054] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0055] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0056] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0057] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0058] The existing rehabilitation hand technology solutions mainly include the following, involving different driving modes, control methods and adaptive designs, suitable for different types of patient needs:

[0059] 1) Mechanical drive solution

[0060] The mechanical drive solution is one of the early technologies used in rehabilitation hands. It usually uses a rigid or semi-rigid structure to drive the flexion and extension of the fingers through mechanical connecting rods and motors. The advantage of this solution is that it has high power and can adapt to strong rehabilitation needs, but it also has problems such as inconvenience in wearing and poor comfort. Rigid connecting rod structure and electric motor drive are commonly used as drive solutions. The disadvantages of this solution are that the structure is relatively bulky, difficult to adapt to individual differences, poor wearing experience for patients, and there are certain problems in rotation center alignment and movement flexibility.

[0061] For example, patent CN118253074A discloses an exoskeleton hand active rehabilitation training device, which consists of a rehabilitation glove, a mechanism part and a drive part. The mechanism part includes a front block, an exoskeleton joint, an upper elastic part and a lower elastic part; the drive part includes a housing, a motor, a motor cover, a tension and compression sensor, a potentiometer and a slider. The exoskeleton joint is installed above the lower elastic part, the front block is fixed to one end of the lower elastic part and connected to the end of the rehabilitation glove finger; the upper elastic part is located above the lower elastic part and passes through the exoskeleton joint, one end is connected to the front block, and the other end extends into the housing. The motor controls the rotational motion to be converted into the linear motion of the slider, thereby pushing the silicon steel sheet to push and pull to achieve finger flexion and extension. At the same time, the potentiometer provides position feedback to ensure closed-loop control of the exoskeleton joint.

[0062] The shortcoming of this patent is that the design of the device involves multiple components, such as exoskeleton joints, motors, sliders, sensors, etc., which increases the complexity of the overall structure. The coordination and integration between multiple components may make system debugging and maintenance more complicated. For patients, complex devices may also affect the convenience of wearing and use. Although the design of the exoskeleton joints and elastic parts takes into account the flexibility of the hands, the structure of the overall device may be relatively bulky, especially for some patients with limited hand function. It is inconvenient or uncomfortable to wear, which may affect the patient's willingness to use it. If the gloves do not fit the patient's hands completely, it may cause discomfort and affect the effect of rehabilitation training.

[0063] 2) Flexible drive solution

[0064] Flexible actuated rehabilitation gloves usually rely on flexible materials (such as pneumatic actuators, shape memory alloys, flexible electrodeformable materials, etc.) to drive finger movements. Compared with rigid structures, flexible actuation pays more attention to comfort and adaptability, but may compromise on power and control accuracy.

[0065] For example, patent CN118105276A discloses a pneumatic muscle rehabilitation glove. The glove body of the invention includes five finger sleeves, and each finger sleeve is equipped with a pneumatic muscle on the back. The pneumatic muscle is connected to the actuator through a tracheal divider. The pneumatic muscle consists of an end cover, a through cover, an air vent head, a bending tube and an air plug head. The bending tube consists of a super elastic silicone tube and an outer corrugated woven mesh sleeve. The air plug head is sealed and fixed at one end of the bending tube, and the air plug head is connected to the end cover of the bending tube; the air vent head is sealed and fixed at the other end, and the air vent head is connected to the through cover of the bending tube. Through the combination of the corrugated woven mesh sleeve and the silicone sleeve, the pneumatic muscle forms a flexible main body that can adapt to various groups of people, especially stroke patients with finger contracture. The design has good elasticity, is gentle and impact-free during training, and is safe and reliable.

[0066] The shortcoming of this patent is that although the pneumatic muscle is connected to the actuator through the tracheal system, the accuracy and feedback mechanism of controlling the air pressure is still a technical challenge. The pneumatic system may require additional sensors to monitor the air pressure and the position of the finger. If these sensors are not accurate, it may affect the accuracy of the finger movement and the closed-loop control of the system.

[0067] 3) Hybrid drive solution

[0068] Hybrid drive rehabilitation glove technology combines rigid drive and flexible drive to make up for their respective shortcomings. Usually, this solution combines flexible materials with rigid structures such as electric motors and pneumatic drives to achieve more flexible and personalized rehabilitation functions through multiple drive methods. Flexible drive is used to provide soft comfort, while the electric motor provides sufficient power. The combination of flexible and rigid drives can be dynamically adjusted according to the needs of the patient through an intelligent control system. In some designs, pneumatic drive and electric motor act on the movement of the rehabilitation hand at the same time, providing powerful and precise power output through a composite system. This solution has good adaptability and adjustability, can provide flexibility and comfort, and can ensure sufficient power and control accuracy, and can meet the needs of different patients. However, it is more complex, costly, and technically difficult. A highly integrated and precise control system is required.

[0069] For example, patent CN115463006A discloses a flexible rehabilitation glove based on a hybrid driver, which includes five hybrid drivers and their control boxes. Each hybrid driver consists of a driver end mounting seat, a flexible driver, a TPFE water pipe, a flexible driver front mounting seat, a trachea connecting seat, an SMA spring driver and a cooling water pipe. The control box contains an air pump, a filter, a water pump, a water tank, a proportional valve and a control circuit board, and the filter is connected to the air pump and the proportional valve respectively. The outside of the control box is provided with a driver control box, a control box cover, a main switch, a button and a voltage display. The flexible rehabilitation glove combines the high torque output of the flexible driver and the high force-to-mass ratio of the SMA, overcomes the limitation that the traditional flexible driver can only move in one direction, can drive the fingers to move in both directions, and provide patients with sufficient working torque and movement space.

[0070] The hybrid-driven flexible rehabilitation gloves solve the problems of insufficient power and unidirectional motion of traditional flexible actuators by combining pneumatic drive and SMA spring drive, and provide stronger torque output and bidirectional motion function. However, its system complexity, response accuracy, poor adaptability, heavy weight, low energy efficiency, high cost, and difficult maintenance may affect its effectiveness and popularity in practical applications.

[0071] Hybrid-driven flexible rehabilitation gloves are intelligent rehabilitation medical devices designed to help patients with stroke and other diseases recover upper limb function, especially hand function. Its key technologies include intelligent control systems, flexible actuators and transmission systems. The intelligent control system adjusts the action of the actuator according to the patient's rehabilitation needs, thereby achieving personalized rehabilitation training; the flexible actuator uses flexible materials and advanced driving methods (such as pneumatics, shape memory alloys or electro-deformable materials) to provide soft and flexible power output, which not only improves the comfort of the gloves, but also enhances the patient's adaptability and long-term use experience. In addition, the hybrid drive system can automatically adjust the training intensity according to the patient's rehabilitation progress to achieve more precise and efficient treatment effects. The continuous maturity of this technology has promoted the development of hand rehabilitation training equipment towards a more intelligent, personalized and wearable direction.

[0072] Traditional rehabilitation robots use rigid connecting rod structures to help patients perform movements such as relaxation and flexion. Rigid connecting rod structures are used to drive the patient's fingers to run along a preset trajectory. Rigid structures have problems such as difficulty in wearing and alignment of the center of rotation. Compared with rehabilitation robots with rigid connecting rod structures, traditional flexible rehabilitation gloves have unique advantages in design and application, but they also have some shortcomings. Although flexible gloves have certain comfort and flexibility, they still have certain limitations in adapting to the individual differences of different patients (such as finger shape, size, muscle strength level, etc.). Some gloves may be difficult to personalize according to the specific needs of different patients, resulting in unsatisfactory treatment effects. Although flexible gloves usually have certain adaptive capabilities, in actual applications, patients' needs and rehabilitation goals are often diverse. How to make gloves provide personalized support in actual use through fit and adjustment remains a challenge.

[0073] In order to solve the problem that the hand function rehabilitation devices in the prior art cannot enable the patient's fingers to bend in a normal order for rehabilitation treatment, an embodiment of the present invention provides a hybrid drive hand function rehabilitation device to achieve sequential bending of finger joints, which helps to restore finger function and solves the problem of no time lag in the current human-like finger bending process.

[0074] The embodiment of the present invention provides a hybrid drive type hand function rehabilitation device, referring to Figure 1 and Figure 2 The device includes: a support plate 5, a glove 6, five finger bending components 1, a pneumatic drive component and a swing drive component 2.

[0075] Among them, the palm part of the glove 6 is connected to one side of the support plate 5. The glove 6 is made of flexible material and can be bent. The glove 6 is comfortable and flexible. The user's hand is completely inserted into the glove 6, so that the five finger bending components 1 drive the patient's fingers to perform exercise rehabilitation through the glove 6.

[0076] The five finger bending components 1 are arranged on the side of the support plate 5 away from the glove 6, so that the five fingers of the patient can be bent after wearing the glove 6, preventing the five finger bending components 1 from interfering with the movement of the fingers, and the end of the five finger bending components 1 close to the palm part of the glove 6 is connected to the support plate 5, and the end of the five finger bending components 1 close to the finger part of the glove 6 is connected to the glove 6; the outer contour of the support plate 5 is roughly the same as the palm part of the glove 6, and the support plate 5 is fixed to the palm part of the patient through the glove 6, and the support plate 5 plays a role in supporting and fixing the entire rehabilitation device.

[0077] The five finger bending components 1 are linear structures in a non-inflated state, and are arc-shaped structures that bend toward one side of the glove 6 in an inflated state. The pneumatic drive is used to control the inflation and deflation of the finger bending components 1. Such a setting enables the finger bending components 1 to drive the fingers to bend and straighten, achieving the effect of rehabilitation training. The pneumatic drive can be a structure such as an air pump.

[0078] The finger bending assembly 1 comprises a time delay control structure 12 and at least two connected pneumatic bending members 11. The two pneumatic bending members 11 are arranged along their length and have the same bending direction; the time delay control structure 12 is connected to each pneumatic bending member 11 and is used to control each pneumatic bending member 11 to be inflated and bent in sequence from the base of the finger to the tip of the finger.

[0079] The finger bending assembly 1 of this embodiment is a split structure, consisting of multiple sections of pneumatic bending parts 11, for example, Figure 8 The finger bending assembly 1 corresponding to the thumb includes two pneumatic bending members 11, and the finger bending assembly 1 corresponding to the index finger, middle finger, ring finger and little finger includes three pneumatic bending members 11, so as to adapt to the lengths of different fingers and better meet the structural requirements and the requirements of wearing comfort. The delay control structure 12 can control the bending order of the pneumatic bending members 11. Taking the finger bending assembly 1 corresponding to the index finger as an example, the finger bending assembly 1 includes a first pneumatic bending member, a second pneumatic bending member and a third pneumatic bending member connected in sequence, and the first pneumatic bending member is close to the palm. The delay control structure 12 can control the first pneumatic bending member to bend first, the second pneumatic bending member to bend second, and the third pneumatic bending member to bend last, thereby simulating the knuckle bending order of normal human fingers, solving the problem of no time lag in the current human-like finger bending process, and achieving a more accurate rehabilitation treatment effect.

[0080] In some embodiments, reference Figure 3 and Figure 4 The delay control structure 12 is arranged between two adjacent pneumatic bending members 11. Taking the finger bending assembly 1 corresponding to the index finger as an example, there are two delay control structures 12, which are arranged respectively between the first pneumatic bending member and the second pneumatic bending member, and between the second pneumatic bending member and the third pneumatic bending member.

[0081] Reference Figure 6The delay control structure 12 includes a valve body 121, an air inlet head 122, an air outlet head 123 and a valve plate 124. The air inlet head 122 and the air outlet head 123 are respectively arranged on both sides of the valve body 121 for communicating with the pneumatic bending member 11. The air inlet head 122 and the air outlet head 123 are connected to the valve body 121. The valve body 121 is a hollow structure. The valve plate 124 is arranged at a central position inside the valve body 121. A cavity structure is formed on both sides of the valve plate 124 inside the valve body 121. A through hole 126 is provided in the middle of the valve plate 124. The aperture of the through hole 126 is smaller than the cross-sectional area of ​​the cavity structure. The cross-sectional area of ​​the through hole 126 is different from that of the cavity structure, thereby generating a pressure difference. After the first pneumatic bending member is inflated and bent, and the air pressure exceeds the threshold of the delay control structure 12, the second pneumatic bending member starts to be inflated and bent, and the bending of the three pneumatic bending members is realized in sequence, which effectively simulates the movement sequence of each joint when the human finger is complete. The delay control structure 12 in the above embodiment not only plays the role of connecting two adjacent pneumatic bending members 11, but also realizes the effect of the two pneumatic bending members 11 being inflated and bent in sequence, achieving a significant effect through a simple structure.

[0082] The air inlet head 122 and the air outlet head 123 of the above embodiment are both provided with a limit ring 125, and the limit ring 125 can enhance the connection performance of the connection between the delay control structure 12 and the pneumatic bending part and enhance the sealing performance.

[0083] The decompression principle of the delay control structure 12 in the above embodiment is as follows:

[0084] According to the continuity equation (for incompressible fluid): A1v1=A2v2

[0085] Among them, A1 and A2 are the cross-sectional areas of the through hole and cavity structure inside the valve body, respectively, and v1 and v2 are the flow velocities of the fluid at these two locations, respectively. Assuming that the cross-sectional areas at both ends of the valve body are different, the fluid will flow faster in the area with a smaller cross-sectional area, and slower in the area with a larger cross-sectional area.

[0086] According to Bernoulli's equation (assuming the fluid is incompressible and steady-state): P+1 / 2ρv 2 +ρgh=constant

[0087] Where P is the pressure of the fluid, ρ is the density of the fluid, v is the flow rate, h is the height, and g is the acceleration of gravity. Due to the different cross-sectional areas at the via and cavity structures, changes in flow rate will cause changes in pressure. When the fluid flow rate increases, the kinetic energy increases, and according to the Bernoulli equation, the pressure will decrease; when the flow rate decreases, the kinetic energy decreases and the pressure will increase. Therefore, by controlling the cross-sectional area at the via and cavity structure, the pressure after the valve can be adjusted by changing the flow rate.

[0088] In some embodiments, the delay control structure 12 includes multiple groups of pipes and valves, each pipe is connected to a different pneumatic bending part 11 on the same finger bending assembly 1, and the pneumatic bending part 11 is inflated through the valve-controlled pipe, and the bending of one side of each pneumatic bending part 11 is controlled by the opening sequence of the valve.

[0089] In some embodiments, reference Figure 5 The upper side of the pneumatic bending member 11 has a plurality of protruding structures 111 arranged side by side, and there are intervals between adjacent protruding structures. A cavity 112 is arranged inside the protruding structure, and each cavity is connected to each other. When the cavity is inflated, it expands so that the pneumatic bending member 11 bends to the side away from the protruding structure. The pneumatic bending member 11 is made of a flexible material. When the cavity 112 is inflated, it is subjected to pressure, and the volume of the protruding structure 111 expands to produce a large deformation, while the side of the pneumatic bending member 11 away from the protruding structure 111 has a small deformation. The top and bottom of the pneumatic bending member 11 have a deformation difference so that it can only bend in one direction (the direction of finger bending), that is, it drives the finger to do bending movement. When the pneumatic bending member 11 is deflated, the top cavity 112 shrinks and deforms due to elastic force, driving the finger to do straightening movement.

[0090] In the above embodiment, the interval on the pneumatic bending member 11 at the end of the finger bending assembly 1 is smaller than the interval on the other pneumatic bending members 11 of the finger bending assembly 1; the interval is used to provide deformation space, and since the bending angle of the knuckle at the end of the finger is smaller, the adaptive interval size here is correspondingly smaller, which improves the bending accuracy of the pneumatic bending member 11. The length of each pneumatic bending member 11 decreases in sequence from the finger base to the fingertip, and the length of each pneumatic bending member 11 is adapted to the length of the knuckle, which enhances the fit of the finger and the comfort of use.

[0091] In some embodiments, the pneumatic bending member 11 at the head end is fixedly connected to the support plate 5 through the second bracket 13, and the pneumatic bending member 11 and the delay control structure 12 at the end are fixedly connected to the glove 6 through the second bracket 13; the second bracket 13 plays a connecting role, so that multiple parts of the pneumatic bending member 11 are connected to the glove 6, so that the glove 6 bends along a preset trajectory, preventing the glove 6 from deviating from the preset bending trajectory.

[0092] In the above embodiment, the pneumatic bending member 11 located at the head end is connected to the pneumatic driving member through the conduit 14 and the air valve 15 in sequence. The conduit 14 can be made of PU material, and the conduit 14 is bypassed by the edge of the support plate 5 and extends to the bottom of the palm of the glove. Such a setting has the effect of accommodating the conduit and being aesthetically pleasing. The pneumatic driving member can be an air pump. When the overall device starts to work, taking the finger bending assembly 1 corresponding to the index finger as an example, the air pump inflates the finger bending assembly 1. When the gas passes through the first pneumatic bending member, the air pressure remains unchanged, and the first pneumatic bending member expands and deforms first; when the gas passes through the delay control structure 12, the air pressure decreases, and the second pneumatic bending member lags behind the first pneumatic bending member in deformation; similarly, the third pneumatic bending member lags behind the second pneumatic bending member in deformation, thereby achieving delayed expansion of the three pneumatic bending members, that is, driving the three finger joints to bend with delay when the three finger joints are moved.

[0093] In the above embodiment, five groups of catheters 14 and air valves 15 are provided, corresponding to five finger bending components 1 respectively. The air valve 15 can control the opening and closing of the catheter 14. When the catheter 14 connected to the finger bending component 1 is in an open state, the finger bending component 1 can realize the bending function. The five finger bending components 1 of this embodiment can work individually or simultaneously to realize various bending action requirements during the rehabilitation process.

[0094] In some embodiments, the hybrid drive type hand function rehabilitation device further comprises a swing drive component 2; the swing drive component 2 is provided with at least one, and the swing drive component 2 corresponds to at least one of the thumb, the index finger and the ring finger, referring to Figure 1 For example, three swing drive components 2 are provided, corresponding to the thumb, index finger and ring finger respectively. According to the training requirements of real left and right swing of human fingers, the swing drive component 2 is designed. Under normal circumstances, the swing drive component 2 does not affect the flexion and extension of the finger pneumatic joint. The swing drive component 2 can realize the left and right swing of the finger during the straightening and bending of the finger.

[0095] In the above embodiments, the swing drive assembly 2 includes a power source, a cable group, and an elastic frame 24. Among them, the elastic frame 24 is arranged on the support plate 5 and is connected to one of the five finger bending assemblies 1; both ends of the cable group are respectively connected to the elastic frame 24 and the power source, and the power source is used to pull the cable group to drive the elastic frame 24 and the finger bending assembly 1 connected to the elastic frame 24 to swing left and right. The power source converts its own power into the pulling force of the cable group, and through the pulling force of the cable group, the elastic frame 24 can be deflected left and right, thereby driving the finger bending assembly 1 to deflect left and right. Such a setting enables the patient's fingers to perform left and right swing rehabilitation training. The left and right swing rehabilitation training, bending and straightening rehabilitation training can be carried out simultaneously or separately, so that the patient's fingers can be trained in multiple directions of movement, which can simulate the normal multi-directional movement of human fingers and greatly improve the effect of rehabilitation training. Since the left and right swing angles of the index finger, ring finger, and thumb of the human hand are the most obvious in reality, the swing drive assemblies 2 corresponding to the above three fingers are designed, and the swing of each finger can be controlled separately or the three fingers can swing simultaneously. This embodiment truly imitates the normal movement mode of human fingers, can significantly improve the wearing comfort and movement compliance during the hand function rehabilitation training process, and can greatly enhance the rehabilitation effect of patients with hand function movement disorders.

[0096] In some embodiments, referring to Figure 7 , the elastic frame 24 includes a first fixing frame 241, a floating baffle 242, and at least one elastic reed 243. The number of elastic reeds 243 can be selected from 2 to 6. Among them, the elastic reed 243 is arranged between the first fixing frame 241 and the floating baffle 242, both ends of the elastic reed 243 are respectively connected to the first fixing frame 241 and the floating baffle 242, and the elastic reed 243 can be deflected left and right; the bottom of the first fixing frame 241 is fixedly connected to the support plate 5; the floating baffle 242 is a U-shaped structure and is clamped on the finger bending assembly 1 connected to the elastic frame 24 for driving the finger bending assembly 1 connected to the elastic frame 24 to swing, and the floating baffle 242 is connected to the cable group; the first fixing frame 241 is a U-shaped structure, and the side of the first fixing frame 241 with an opening is fixedly connected to the support plate 5.

[0097] In the above embodiment, one end of the elastic spring 243 is connected to the support plate 5 through the first fixing frame 241, and the other end of the elastic spring 243 is connected to the finger bending assembly 1 connected to the elastic frame 24 through the floating baffle 242. When the pull rope group applies tension, the elastic spring 243 can be deformed, thereby driving the finger bending assembly 1 connected to the elastic frame 24 to swing. When the pull rope group no longer applies tension, the elastic spring 243 can be restored to a straight state due to its own elasticity. Such a structure is simple and reliable. The swing of the elastic spring 243 drives the finger bending assembly 1 connected to the elastic frame 24 to swing, so that the patient's fingers can receive rehabilitation training of swinging left and right. The above design more realistically imitates the normal movement pattern of human fingers, can significantly improve the wearing comfort and movement flexibility during hand function rehabilitation training, and can greatly improve the rehabilitation effect of patients with hand function movement disorders.

[0098] In some embodiments, reference Figure 1 The pull rope group includes a first pull rope 22 and a second pull rope 23, and the pull rope can be a steel wire rope. Through holes 245 are respectively provided on both sides of the first fixing frame 241 in the horizontal direction. Connecting sleeves 244 are respectively provided on both sides of the floating baffle 242 in the horizontal direction.

[0099] The middle portion of the first pull rope 22 passes through the through hole 245 on one side of the first fixing frame 241, and the first end of the first pull rope 22 is fixedly connected to the connecting sleeve 244 on the same side. The middle portion of the second pull rope 23 passes through the through hole 245 on the other side of the first fixing frame 241, and the first end of the second pull rope 23 is fixedly connected to the connecting sleeve 244 on the same side.

[0100] The second end of the first pull rope 22 and the second end of the second pull rope 23 are both connected to a power source, which is used to control the first pull rope 22 to tighten and the second pull rope 23 to loosen, or the first pull rope 22 to loosen and the second pull rope 23 to tighten, or the first pull rope 22 and the second pull rope 23 to loosen at the same time.

[0101] When the first pull rope 22 or the second pull rope 23 is tightened, the floating baffle 242 and the elastic spring 243 are pulled to swing, thereby driving the glove and the corresponding finger to swing. When the first pull rope 22 or the second pull rope 23 is loosened, the finger bending assembly 1 is reset under the action of the elastic force of the elastic spring 243 itself.

[0102] In some embodiments, the power source includes a steering gear 21 and a turntable 25, and the power source can be set in three groups; wherein the steering gear 21 can be fixedly arranged relative to the support plate 5, the middle of the turntable 25 is fixedly connected to the output shaft of the steering gear 21, and the side of the turntable 25 has two centrally symmetrically arranged pull rope connection holes, and the two pull rope connection holes are respectively fixedly connected to the second end of the first pull rope 22 and the second end of the second pull rope 23. The output shaft of the steering gear 21 can rotate 180° in both directions. Fig. 9It is shown that each servo 21 is in a standby position, at which time the first pull rope 22 and the second pull rope 23 are both in a relaxed state. When the overall device is working, taking the finger bending component 1 corresponding to the ring finger as an example, the output shaft of the servo 21 rotates forward, the turntable 25 drives the first pull rope 22 to tighten and the second pull rope 23 to loosen, pulls the elastic frame 24 to swing, and the ring finger deflects closer to the middle finger. Conversely, the output shaft of the servo 21 is reversed, the turntable 25 drives the first pull rope 22 to loosen and the second pull rope 23 to tighten, pulls the elastic frame 24 to swing, and the ring finger deflects away from the middle finger. In this way, the ring finger can be driven to perform left and right swing training. Similarly, the three swing drive components 2 can perform left and right swing training on the index finger, ring finger and thumb respectively.

[0103] In the above embodiment, the rotation axis of the turntable 25 is arranged horizontally, so that the partial structure of the first pull rope 22 close to the turntable 25 and the partial structure of the second pull rope 23 close to the turntable 25 intersect in space. Such an arrangement can prevent the first pull rope 22 and the second pull rope 23 from contacting each other during the movement, prevent the first pull rope 22 and the second pull rope 23 from interfering with each other, prevent the turntable 25 from interfering with the first pull rope 22 and the second pull rope 23, and improve the stability of the device.

[0104] Reference Figure 1 The output shafts of the two servos 21 at the bottom layer are respectively oriented toward the outside of the whole device, and the output shaft of the servo 21 at the top layer is oriented opposite to the servo 21 below it. This arrangement can prevent interference between the pull ropes connected to the servos 21, and also prevent interference with the control systems of other servos when a servo works alone.

[0105] In some embodiments, the swing drive assembly 2 further includes at least two positioning rings 27, a lateral interval is provided between the two positioning rings 27, the positioning rings 27 are fixedly connected to the support plate 5, the connection direction of the two positioning rings 27 is the same as the direction of the rotation axis of the turntable 25, and the middle parts of the first pull rope 22 and the second pull rope 23 pass through the inside of the two positioning rings 27 respectively. The positioning ring 27 can guide the first pull rope 22 and the second pull rope 23, and prevent the first pull rope 22 and the second pull rope 23 from interfering with each other during movement.

[0106] In some embodiments, the hybrid drive hand function rehabilitation device further includes a wrist fixing ring 3 and a first bracket 4. The first bracket 4 is fixedly arranged on the wrist fixing ring 3, the wrist fixing ring 3 has a notch, and the steering gear 21 is fixedly connected to the first bracket 4. The wrist fixing ring 3 can be installed on the patient's wrist through the notch, and the wrist fixing ring 3 can have a certain elasticity, so that the wrist fixing ring 3 can be firmly attached to the wrist. The air valve is installed side by side at the bottom of the wrist fixing ring 3, which has an aesthetic effect.

[0107] The hybrid drive hand function rehabilitation device of the embodiment of the present invention has the following advantages and technical effects:

[0108] 1. Realize the sequential bending of finger joints to solve the problem of no time lag in the current humanoid finger bending process.

[0109] 2. The reed-type swing drive assembly is used to realize lateral deflection of the fingers, so as to achieve more refined rehabilitation goals for the index finger, ring finger and thumb, and increase the fun and diversity of rehabilitation movements during the rehabilitation process.

[0110] 3. Different numbers of pneumatic bending parts are set for fingers of different lengths to improve wearing comfort.

[0111] 4. For the pneumatic bending parts at different knuckles of the same finger, different distances are used to adapt to the bending angles of different knuckles, thereby improving the bending accuracy and treatment accuracy.

[0112] 5. Each finger bending assembly 1 can work simultaneously or individually to achieve various bending movement requirements during the rehabilitation process.

[0113] 6. The overall device truly imitates the normal movement pattern of human fingers, which can significantly improve the wearing comfort and movement compliance during hand function rehabilitation training, and can greatly improve the rehabilitation effect of patients with hand function movement disorders.

[0114] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0115] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A hybrid drive hand function rehabilitation device, characterized in that: include: A support plate (5), a glove (6), five finger bending assemblies (1) and a pneumatic drive member; Wherein, the palm part of the glove (6) is connected to one side of the support plate (5); The five finger bending components (1) are arranged on a side of the support plate (5) away from the glove (6); one end of the five finger bending components (1) close to the palm of the glove (6) is connected to the support plate (5); and one end of the five finger bending components (1) close to the finger of the glove (6) is connected to the glove (6); The five finger bending assemblies (1) are of a linear structure in a non-inflated state, and the finger bending assemblies (1) are of an arc-shaped structure bent toward one side of the glove (6) in an inflated state, and the pneumatic drive element is used to control the inflation and deflation of the finger bending assemblies (1); The finger bending assembly (1) comprises a delay control structure (12) and at least two connected pneumatic bending members (11); Wherein, the two pneumatic bending members (11) are arranged along their length direction and have the same bending direction; The delay control structure (12) is connected to each of the pneumatic bending members (11) and is used to control each of the pneumatic bending members (11) to be inflated and bent in sequence from the finger base to the finger tip.

2. The hybrid drive hand function rehabilitation device according to claim 1, characterized in that: The time delay control structure (12) is arranged between two adjacent pneumatic bending parts (11), and the time delay control structure (12) comprises a valve body (121), an air inlet head (122), an air outlet head (123) and a valve plate (124); The air inlet head (122) and the air outlet head (123) are respectively arranged on both sides of the valve body (121) for communicating with the pneumatic bending member (11), and the air inlet head (122) and the air outlet head (123) are in communication with the valve body (121); The valve body (121) is a hollow structure, the valve plate (124) is arranged at a central position inside the valve body (121), a cavity structure is formed inside the valve body (121) on both sides of the valve plate (124), a through hole (126) is provided in the middle of the valve plate (124), and the aperture of the through hole (126) is smaller than the cross-sectional area of ​​the cavity structure; Limiting rings (125) are provided on both the air inlet head (122) and the air outlet head (123).

3. The hybrid drive hand function rehabilitation device according to claim 1, characterized in that: The upper side of the pneumatic bending member (11) has a plurality of protruding structures (111) arranged side by side, with intervals provided between adjacent protruding structures, and cavities (112) provided inside the protruding structures, the cavities being interconnected, and the cavities expanding in an inflated state so that the pneumatic bending member (11) bends toward a side away from the protruding structures; The spacing on the pneumatic bending member (11) at the end of the finger bending assembly (1) is smaller than the spacing on the remaining pneumatic bending members (11) of the finger bending assembly (1); The lengths of the pneumatic bending members (11) decrease in sequence from the base of the finger to the tip of the finger.

4. The hybrid drive hand function rehabilitation device according to claim 1, characterized in that: The pneumatic bending member (11) located at the head end is fixedly connected to the support plate (5) through the second bracket (13), and the pneumatic bending member (11) and the delay control structure (12) located at the tail end are fixedly connected to the glove (6) through the second bracket (13); The pneumatic bending member (11) located at the head end is successively connected to the pneumatic driving member through a conduit (14) and a pneumatic valve (15).

5. The hybrid drive hand function rehabilitation device according to claim 1, characterized in that: The finger bending assembly (1) corresponding to the thumb includes two of the pneumatic bending members (11), and the finger bending assemblies (1) corresponding to the index finger, middle finger, ring finger and little finger each include three of the pneumatic bending members (11).

6. The hybrid drive hand function rehabilitation device according to claim 1, characterized in that: The hybrid drive type hand function rehabilitation device further includes a swing drive assembly (2); at least one swing drive assembly (2) is provided, the swing drive assembly (2) corresponds to at least one of the thumb, index finger and ring finger, and the swing drive assembly (2) includes a power source, a cable group and an elastic frame (24); Wherein, the elastic frame (24) is arranged on the support plate (5) and is connected to one of the five finger bending assemblies (1); Both ends of the cable group are respectively connected to the elastic frame (24) and the power source, and the power source is used to pull the cable group to drive the elastic frame (24) and the finger bending assembly (1) connected to the elastic frame (24) to swing left and right.

7. The hybrid drive hand function rehabilitation device according to claim 6, characterized in that: The elastic frame (24) includes a first fixing frame (241), a floating baffle (242) and at least one elastic reed (243); Wherein, the elastic reed (243) is arranged between the first fixing frame (241) and the floating baffle (242), both ends of the elastic reed (243) are respectively connected to the first fixing frame (241) and the floating baffle (242), and the elastic reed (243) can deflect and deform left and right; The bottom of the first fixing frame (241) is fixedly connected to the support plate (5); The floating baffle (242) is in a U-shaped structure and is clamped on the finger bending assembly (1) connected to the elastic frame (24) for driving the finger bending assembly (1) connected to the elastic frame (24) to swing, and the floating baffle (242) is connected to the cable group; The first fixing frame (241) is in a U-shaped structure, and the side of the first fixing frame (241) with an opening is fixedly connected to the support plate (5).

8. The hybrid drive hand function rehabilitation device according to claim 7, characterized in that: The cable group includes a first cable (22) and a second cable (23); through holes (245) are respectively arranged on both sides of the first fixing frame (241) in the horizontal direction; connection sleeves (244) are respectively arranged on both sides of the floating baffle (242) in the horizontal direction; Wherein, the middle part of the first cable (22) passes through the through hole (245) on one side of the first fixing frame (241), and the first end of the first cable (22) is fixedly connected to the connection sleeve (244) on the same side; The middle portion of the second pull rope (23) passes through the through hole (245) on the other side of the first fixing frame (241), and the first end of the second pull rope (23) is fixedly connected to the connecting sleeve (244) on the same side; The second end of the first pull rope (22) and the second end of the second pull rope (23) are both connected to the power source, and the power source is used to control the first pull rope (22) to tighten and the second pull rope (23) to loosen, or the first pull rope (22) to loosen and the second pull rope (23) to tighten, or the first pull rope (22) and the second pull rope (23) to loosen at the same time.

9. The hybrid drive hand function rehabilitation device according to claim 8, characterized in that: The power source comprises a steering gear (21) and a turntable (25); The steering gear (21) can be fixedly arranged relative to the support plate (5), the middle part of the turntable (25) is fixedly connected to the output shaft of the steering gear (21), and the side of the turntable (25) has two pull rope connection holes which are centrally symmetrically arranged, and the two pull rope connection holes are respectively fixedly connected to the second end of the first pull rope (22) and the second end of the second pull rope (23); The rotation axis of the turntable (25) is arranged horizontally so that a portion of the structure of the first pull rope (22) close to the turntable (25) and a portion of the structure of the second pull rope (23) close to the turntable (25) intersect in space.

10. The hybrid drive hand function rehabilitation device according to claim 9, characterized in that: The swing drive assembly (2) further comprises at least two positioning rings (27), a lateral interval being provided between the two positioning rings (27), the positioning rings (27) being fixedly connected to the support plate (5), the connecting direction of the two positioning rings (27) being the same as the direction of the rotation axis of the rotating disk (25), and the middle parts of the first pull rope (22) and the second pull rope (23) respectively passing through the inside of the two positioning rings (27); The hybrid drive type hand function rehabilitation device also includes a wrist fixing ring (3) and a first bracket (4); The first bracket (4) is fixedly arranged on the wrist fixing ring (3), the wrist fixing ring (3) has a notch, and the steering gear (21) is fixedly connected to the first bracket (4).

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